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simmediummobile-manipulationmetric · varies
ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat
Description
Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a challenge. In this work, we present ReMoSPLAT, a reactive controller based on a quadratic program formulation for mobile manipulation that leverages a Gaussian Splat representation for collision avoidance. By integrating additional constraints and costs into the op